Person Tracking in Large Public Spaces Using 3-D Range Sensors
A method for tracking the position, orientation, and height of persons in large public environments is presented. Such a piece of information is known to be useful both for understanding their actions, as well as for applications such as human-robot interaction. We use multiple 3-D range sensors, wh...
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Veröffentlicht in: | IEEE transactions on human-machine systems 2013-11, Vol.43 (6), p.522-534 |
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Sprache: | eng |
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Zusammenfassung: | A method for tracking the position, orientation, and height of persons in large public environments is presented. Such a piece of information is known to be useful both for understanding their actions, as well as for applications such as human-robot interaction. We use multiple 3-D range sensors, which are mounted above human height to have less occlusion between persons. A computationally simple-tracking method is proposed that works on single sensor data and combines multiple sensors so that large areas can be covered with a minimum number of sensors. Moreover, it can work with different sensor types and is robust to the imperfect sensor measurements; therefore, it is possible to combine currently available 3-D range sensor solutions to achieve tracking in wide public spaces. The method was implemented in a shopping center environment, and it was shown that good tracking performance can be achieved. |
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ISSN: | 2168-2291 2168-2305 |
DOI: | 10.1109/THMS.2013.2283945 |